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<li class="navelem"><a class="el" href="namespace_s_p_h.html">SPH</a></li><li class="navelem"><b>solid_dynamics</b></li><li class="navelem"><a class="el" href="class_s_p_h_1_1solid__dynamics_1_1_constrain_solid_body_part_by_sim_body.html">ConstrainSolidBodyPartBySimBody</a></li>  </ul>
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pro-methods">Protected Member Functions</a> &#124;
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<div class="title">SPH::solid_dynamics::ConstrainSolidBodyPartBySimBody Class Reference</div>  </div>
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<p>Constrain a solid body part from the motion computed from Simbody.  
 <a href="class_s_p_h_1_1solid__dynamics_1_1_constrain_solid_body_part_by_sim_body.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="solid__dynamics_8h_source.html">solid_dynamics.h</a>&gt;</code></p>

<p>Inherits <a class="el" href="class_s_p_h_1_1solid__dynamics_1_1_constrain_solid_body_region.html">SPH::solid_dynamics::ConstrainSolidBodyRegion</a>.</p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ab093d0c59e8b2a5f7da47b104a84ae7c"><td class="memItemLeft" align="right" valign="top"><a id="ab093d0c59e8b2a5f7da47b104a84ae7c"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>ConstrainSolidBodyPartBySimBody</b> (<a class="el" href="class_s_p_h_1_1_solid_body.html">SolidBody</a> *body, <a class="el" href="class_s_p_h_1_1_solid_body_part_for_simbody.html">SolidBodyPartForSimbody</a> *body_part, SimTK::MultibodySystem &amp;MBsystem, SimTK::MobilizedBody &amp;mobod, SimTK::Force::DiscreteForces &amp;force_on_bodies, SimTK::RungeKuttaMersonIntegrator &amp;integ)</td></tr>
<tr class="separator:ab093d0c59e8b2a5f7da47b104a84ae7c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_class_s_p_h_1_1solid__dynamics_1_1_constrain_solid_body_region"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_s_p_h_1_1solid__dynamics_1_1_constrain_solid_body_region')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_s_p_h_1_1solid__dynamics_1_1_constrain_solid_body_region.html">SPH::solid_dynamics::ConstrainSolidBodyRegion</a></td></tr>
<tr class="memitem:a15b8810ebc62d81545f697bf35160e03 inherit pub_methods_class_s_p_h_1_1solid__dynamics_1_1_constrain_solid_body_region"><td class="memItemLeft" align="right" valign="top"><a id="a15b8810ebc62d81545f697bf35160e03"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>ConstrainSolidBodyRegion</b> (<a class="el" href="class_s_p_h_1_1_s_p_h_body.html">SPHBody</a> *body, <a class="el" href="class_s_p_h_1_1_body_part_by_particle.html">BodyPartByParticle</a> *body_part)</td></tr>
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<tr class="inherit_header pub_methods_class_s_p_h_1_1_part_simple_dynamics_by_particle"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_s_p_h_1_1_part_simple_dynamics_by_particle')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_s_p_h_1_1_part_simple_dynamics_by_particle.html">SPH::PartSimpleDynamicsByParticle</a></td></tr>
<tr class="memitem:abf0bc4301423149d61ae4cc3c8523fd7 inherit pub_methods_class_s_p_h_1_1_part_simple_dynamics_by_particle"><td class="memItemLeft" align="right" valign="top"><a id="abf0bc4301423149d61ae4cc3c8523fd7"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>PartSimpleDynamicsByParticle</b> (<a class="el" href="class_s_p_h_1_1_s_p_h_body.html">SPHBody</a> *sph_body, <a class="el" href="class_s_p_h_1_1_body_part_by_particle.html">BodyPartByParticle</a> *body_part)</td></tr>
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<tr class="inherit_header pub_methods_class_s_p_h_1_1_part_dynamics_by_particle"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_s_p_h_1_1_part_dynamics_by_particle')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_s_p_h_1_1_part_dynamics_by_particle.html">SPH::PartDynamicsByParticle</a></td></tr>
<tr class="memitem:aa688c7aa4663b17a39db749a3575d461 inherit pub_methods_class_s_p_h_1_1_part_dynamics_by_particle"><td class="memItemLeft" align="right" valign="top"><a id="aa688c7aa4663b17a39db749a3575d461"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>PartDynamicsByParticle</b> (<a class="el" href="class_s_p_h_1_1_s_p_h_body.html">SPHBody</a> *sph_body, <a class="el" href="class_s_p_h_1_1_body_part_by_particle.html">BodyPartByParticle</a> *body_part)</td></tr>
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<tr class="memitem:a9d95efb3814fe94d1cc59f3814ec7b5d inherit pub_methods_class_s_p_h_1_1_part_dynamics_by_particle"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_s_p_h_1_1_part_dynamics_by_particle.html#a9d95efb3814fe94d1cc59f3814ec7b5d">exec</a> (Real dt=0.0) override</td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>parallel_exec</b> (Real dt=0.0) override</td></tr>
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<tr class="memitem:a79d1c47689c57d6f956032d4bd75cdc2 inherit pub_methods_class_s_p_h_1_1_particle_dynamics"><td class="memItemLeft" align="right" valign="top"><a id="a79d1c47689c57d6f956032d4bd75cdc2"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>ParticleDynamics</b> (<a class="el" href="class_s_p_h_1_1_s_p_h_body.html">SPHBody</a> *sph_body)</td></tr>
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<tr class="memitem:aab84153bd29b90450a14c68750af60d1 inherit pub_methods_class_s_p_h_1_1_particle_dynamics"><td class="memItemLeft" align="right" valign="top"><a id="aab84153bd29b90450a14c68750af60d1"></a>
<a class="el" href="class_s_p_h_1_1_s_p_h_body.html">SPHBody</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>getSPHBody</b> ()</td></tr>
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<tr class="inherit_header pub_methods_class_s_p_h_1_1_data_delegate_simple"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_s_p_h_1_1_data_delegate_simple')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_s_p_h_1_1_data_delegate_simple.html">SPH::DataDelegateSimple&lt; BodyType, ParticlesType, MaterialType &gt;</a></td></tr>
<tr class="memitem:a8f9be49cf96804025fc7631790cc80d5 inherit pub_methods_class_s_p_h_1_1_data_delegate_simple"><td class="memItemLeft" align="right" valign="top"><a id="a8f9be49cf96804025fc7631790cc80d5"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>DataDelegateSimple</b> (<a class="el" href="class_s_p_h_1_1_s_p_h_body.html">SPHBody</a> *body)</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr class="memitem:a047c4e59137413e06ab1db890768254f"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_s_p_h_1_1solid__dynamics_1_1_constrain_solid_body_part_by_sim_body.html#a047c4e59137413e06ab1db890768254f">setupDynamics</a> (Real dt=0.0) override</td></tr>
<tr class="separator:a047c4e59137413e06ab1db890768254f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab13236adeb8d3d855fec4e5250a2352d"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_s_p_h_1_1solid__dynamics_1_1_constrain_solid_body_part_by_sim_body.html#ab13236adeb8d3d855fec4e5250a2352d">Update</a> (<a class="el" href="classsize__t.html">size_t</a> index_i, Real dt=0.0) override</td></tr>
<tr class="separator:ab13236adeb8d3d855fec4e5250a2352d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_class_s_p_h_1_1solid__dynamics_1_1_constrain_solid_body_region"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_s_p_h_1_1solid__dynamics_1_1_constrain_solid_body_region')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_s_p_h_1_1solid__dynamics_1_1_constrain_solid_body_region.html">SPH::solid_dynamics::ConstrainSolidBodyRegion</a></td></tr>
<tr class="memitem:a2ffda58afa4f97afda4263b2e9a54414 inherit pro_methods_class_s_p_h_1_1solid__dynamics_1_1_constrain_solid_body_region"><td class="memItemLeft" align="right" valign="top">virtual Vecd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_s_p_h_1_1solid__dynamics_1_1_constrain_solid_body_region.html#a2ffda58afa4f97afda4263b2e9a54414">getDisplacement</a> (Vecd &amp;pos_0, Vecd &amp;pos_n)</td></tr>
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<tr class="memitem:adefb84c40837077ee6685ead110a3723 inherit pro_methods_class_s_p_h_1_1solid__dynamics_1_1_constrain_solid_body_region"><td class="memItemLeft" align="right" valign="top"><a id="adefb84c40837077ee6685ead110a3723"></a>
virtual Vecd&#160;</td><td class="memItemRight" valign="bottom"><b>getVelocity</b> (Vecd &amp;pos_0, Vecd &amp;pos_n, Vecd &amp;vel_n)</td></tr>
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<tr class="memitem:a460759d84432a3dbba201b684861a502 inherit pro_methods_class_s_p_h_1_1solid__dynamics_1_1_constrain_solid_body_region"><td class="memItemLeft" align="right" valign="top"><a id="a460759d84432a3dbba201b684861a502"></a>
virtual Vecd&#160;</td><td class="memItemRight" valign="bottom"><b>getAcceleration</b> (Vecd &amp;pos_0, Vecd &amp;pos_n, Vecd &amp;dvel_dt)</td></tr>
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<tr class="memitem:ac795e259c01b0cc659e9c42d83e024de inherit pro_methods_class_s_p_h_1_1solid__dynamics_1_1_constrain_solid_body_region"><td class="memItemLeft" align="right" valign="top"><a id="ac795e259c01b0cc659e9c42d83e024de"></a>
virtual SimTK::Rotation&#160;</td><td class="memItemRight" valign="bottom"><b>getBodyRotation</b> (Vecd &amp;pos_0, Vecd &amp;pos_n, Vecd &amp;dvel_dt)</td></tr>
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<tr class="inherit_header pro_methods_class_s_p_h_1_1_particle_dynamics"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_s_p_h_1_1_particle_dynamics')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_s_p_h_1_1_particle_dynamics.html">SPH::ParticleDynamics&lt; void &gt;</a></td></tr>
<tr class="memitem:a6c3ffa11bc0514cd9eb1537b79b4975c inherit pro_methods_class_s_p_h_1_1_particle_dynamics"><td class="memItemLeft" align="right" valign="top"><a id="a6c3ffa11bc0514cd9eb1537b79b4975c"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>setBodyUpdated</b> ()</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:a42b63a9eebeb40c2abbd37a5ed18e996"><td class="memItemLeft" align="right" valign="top"><a id="a42b63a9eebeb40c2abbd37a5ed18e996"></a>
SimTK::MultibodySystem &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>MBsystem_</b></td></tr>
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<tr class="memitem:adf2b8d9c06d763916ab98c665df3f5fc"><td class="memItemLeft" align="right" valign="top"><a id="adf2b8d9c06d763916ab98c665df3f5fc"></a>
SimTK::MobilizedBody &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>mobod_</b></td></tr>
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SimTK::Force::DiscreteForces &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>force_on_bodies_</b></td></tr>
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<tr class="memitem:a6e49affabfd3c8da4b619c6c8c510ac4"><td class="memItemLeft" align="right" valign="top"><a id="a6e49affabfd3c8da4b619c6c8c510ac4"></a>
SimTK::RungeKuttaMersonIntegrator &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>integ_</b></td></tr>
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<tr class="memitem:aaa9d96331d1b2411d2a57fb8aa751e86"><td class="memItemLeft" align="right" valign="top"><a id="aaa9d96331d1b2411d2a57fb8aa751e86"></a>
const SimTK::State *&#160;</td><td class="memItemRight" valign="bottom"><b>simbody_state_</b></td></tr>
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<tr class="memitem:a1182dc22f0d74886249a7551b47ef988"><td class="memItemLeft" align="right" valign="top"><a id="a1182dc22f0d74886249a7551b47ef988"></a>
Vec3d&#160;</td><td class="memItemRight" valign="bottom"><b>initial_mobod_origin_location_</b></td></tr>
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<tr class="inherit_header pro_attribs_class_s_p_h_1_1solid__dynamics_1_1_constrain_solid_body_region"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_s_p_h_1_1solid__dynamics_1_1_constrain_solid_body_region')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_s_p_h_1_1solid__dynamics_1_1_constrain_solid_body_region.html">SPH::solid_dynamics::ConstrainSolidBodyRegion</a></td></tr>
<tr class="memitem:a9ebfbef516275c89edb9cb0c91c8f58b inherit pro_attribs_class_s_p_h_1_1solid__dynamics_1_1_constrain_solid_body_region"><td class="memItemLeft" align="right" valign="top"><a id="a9ebfbef516275c89edb9cb0c91c8f58b"></a>
StdLargeVec&lt; Vecd &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>pos_n_</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pub_static_attribs_class_s_p_h_1_1_global_static_variables"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_class_s_p_h_1_1_global_static_variables')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="class_s_p_h_1_1_global_static_variables.html">SPH::GlobalStaticVariables</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Constrain a solid body part from the motion computed from Simbody. </p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a id="a047c4e59137413e06ab1db890768254f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a047c4e59137413e06ab1db890768254f">&#9670;&nbsp;</a></span>setupDynamics()</h2>

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          <td class="memname">void SPH::solid_dynamics::ConstrainSolidBodyPartBySimBody::setupDynamics </td>
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          <td class="paramtype">Real&#160;</td>
          <td class="paramname"><em>dt</em> = <code>0.0</code></td><td>)</td>
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<p>the function for set global parameters for the particle dynamics </p>

<p>Reimplemented from <a class="el" href="class_s_p_h_1_1_particle_dynamics.html#ab027ee6fb13881db2bc8277ef56d4b58">SPH::ParticleDynamics&lt; void &gt;</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ab13236adeb8d3d855fec4e5250a2352d">&#9670;&nbsp;</a></span>Update()</h2>

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          <td class="memname">void SPH::solid_dynamics::ConstrainSolidBodyPartBySimBody::Update </td>
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          <td class="paramtype"><a class="el" href="classsize__t.html">size_t</a>&#160;</td>
          <td class="paramname"><em>index_i</em>, </td>
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          <td class="paramtype">Real&#160;</td>
          <td class="paramname"><em>dt</em> = <code>0.0</code>&#160;</td>
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<p>this is how we calculate the particle position in after transform of MBbody. const SimTK::Rotation&amp; R_GB = mobod_.getBodyRotation(simbody_state); const SimTK::Vec3&amp; p_GB = mobod_.getBodyOriginLocation(simbody_state); const SimTK::Vec3 r = R_GB * rr; // re-express station vector p_BS in G (15 flops) base_particle_data_i.pos_n_ = (p_GB + r).getSubVec&lt;2&gt;(0);</p>
<p>this is how we calculate the particle position in after transform of MBbody. const SimTK::Rotation&amp; R_GB = mobod_.getBodyRotation(simbody_state); const SimTK::Vec3&amp; p_GB = mobod_.getBodyOriginLocation(simbody_state); const SimTK::Vec3 r = R_GB * rr; // re-express station vector p_BS in G (15 flops) base_particle_data_i.pos_n_ = (p_GB + r);</p>

<p>Reimplemented from <a class="el" href="class_s_p_h_1_1solid__dynamics_1_1_constrain_solid_body_region.html#ac42db86cef0ea924b6a612753481d993">SPH::solid_dynamics::ConstrainSolidBodyRegion</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>SPHINXsys/src/shared/particle_dynamics/solid_dynamics/<a class="el" href="solid__dynamics_8h_source.html">solid_dynamics.h</a></li>
<li>SPHINXsys/src/for_2D_build/particle_dynamics/solid_dynamics/<a class="el" href="for__2_d__build_2particle__dynamics_2solid__dynamics_2solid__dynamics__supplementary_8cpp.html">solid_dynamics_supplementary.cpp</a></li>
<li>SPHINXsys/src/shared/particle_dynamics/solid_dynamics/<a class="el" href="solid__dynamics_8cpp.html">solid_dynamics.cpp</a></li>
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